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hal conf

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May 7th, 2017
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  1. # Generated by stepconf 1.1 at Sun May 7 01:43:17 2017
  2. # If you make changes to this file, they will be
  3. # overwritten when you run stepconf again
  4. loadrt trivkins
  5. loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
  6. loadrt hal_parport cfg="0 out"
  7. loadrt stepgen step_type=0,0,0
  8.  
  9. addf parport.0.read base-thread
  10. addf stepgen.make-pulses base-thread
  11. addf parport.0.write base-thread
  12.  
  13. addf stepgen.capture-position servo-thread
  14. addf motion-command-handler servo-thread
  15. addf motion-controller servo-thread
  16. addf stepgen.update-freq servo-thread
  17. net spindle-cmd-rpm <= motion.spindle-speed-out
  18. net spindle-cmd-rpm-abs <= motion.spindle-speed-out-abs
  19. net spindle-cmd-rps <= motion.spindle-speed-out-rps
  20. net spindle-cmd-rps-abs <= motion.spindle-speed-out-rps-abs
  21. net spindle-at-speed => motion.spindle-at-speed
  22.  
  23. net xstep => parport.0.pin-02-out
  24. net xdir => parport.0.pin-03-out
  25. net ystep => parport.0.pin-04-out
  26. net ydir => parport.0.pin-05-out
  27. net zstep => parport.0.pin-06-out
  28. net zdir => parport.0.pin-07-out
  29.  
  30. setp stepgen.0.position-scale [AXIS_0]SCALE
  31. setp stepgen.0.steplen 1
  32. setp stepgen.0.stepspace 1
  33. setp stepgen.0.dirhold 45000
  34. setp stepgen.0.dirsetup 45000
  35. setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL
  36. net xpos-cmd axis.0.motor-pos-cmd => stepgen.0.position-cmd
  37. net xpos-fb stepgen.0.position-fb => axis.0.motor-pos-fb
  38. net xstep <= stepgen.0.step
  39. net xdir <= stepgen.0.dir
  40. net xenable axis.0.amp-enable-out => stepgen.0.enable
  41.  
  42. setp stepgen.1.position-scale [AXIS_1]SCALE
  43. setp stepgen.1.steplen 1
  44. setp stepgen.1.stepspace 1
  45. setp stepgen.1.dirhold 45000
  46. setp stepgen.1.dirsetup 45000
  47. setp stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL
  48. net ypos-cmd axis.1.motor-pos-cmd => stepgen.1.position-cmd
  49. net ypos-fb stepgen.1.position-fb => axis.1.motor-pos-fb
  50. net ystep <= stepgen.1.step
  51. net ydir <= stepgen.1.dir
  52. net yenable axis.1.amp-enable-out => stepgen.1.enable
  53.  
  54. setp stepgen.2.position-scale [AXIS_2]SCALE
  55. setp stepgen.2.steplen 1
  56. setp stepgen.2.stepspace 1
  57. setp stepgen.2.dirhold 45000
  58. setp stepgen.2.dirsetup 45000
  59. setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL
  60. net zpos-cmd axis.2.motor-pos-cmd => stepgen.2.position-cmd
  61. net zpos-fb stepgen.2.position-fb => axis.2.motor-pos-fb
  62. net zstep <= stepgen.2.step
  63. net zdir <= stepgen.2.dir
  64. net zenable axis.2.amp-enable-out => stepgen.2.enable
  65.  
  66. net estop-out <= iocontrol.0.user-enable-out
  67. net estop-out => iocontrol.0.emc-enable-in
  68.  
  69. loadusr -W hal_manualtoolchange
  70. net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
  71. net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
  72. net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
  73. net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
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